Journal of Astronautics ›› 2017, Vol. 38 ›› Issue (11): 1212-1218.doi: 10.3873/j.issn.1000-1328.2017.11.010

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An Adaptive Filtering Algorithm for Yaw Based on GPS/INS Completely Integrated System

TIAN Yuan, SUI Li fen, TIAN Yi jun, XIAO Guo rui, DAI Qing   

  1. Institute of Geospatial and Information, Information Engineering University, Zhengzhou 450001, China
  • Received:2017-06-16 Revised:2017-08-29 Online:2017-11-15 Published:2017-11-25


Firstly, the GPS/INS completely integrated system is discussed based on land navigation. The attitude correction effects of the completely-integrated and tightly-integrated are respectively analyzed under the kinematic state and static state. The test result is concluded that the yaw precision of the completely-integrated is obviously better than that of the tightly-integrated. And the situation of the yaw’s slow divergence, appearing in the tightly-integrated when the carrier transforms from the kinematic state to static state, can be overcome by the completely-integrated. Secondly, in view of the situation that the anomaly of the kinetic model increases when the carrier is under large-angle turning, a completely-integrated filtering algorithm which only adaptively modifies the yaw is introduced. The simulated test result shows that the influence of the dynamic model abnormity enlarged during large-angle turning can be partly weakened and the yaw precision is partly improved.

Key words: GPS/INS integrated, completely integrated system, yaw, adaptive filtering, classified adaptive factor

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